oem7_ros_publisher.hpp

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//
// Copyright (c) 2020 NovAtel Inc.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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#ifndef __OEM7_ROS_PUBLISHER_HPP__
#define __OEM7_ROS_PUBLISHER_HPP__
 
 
#include <novatel_oem7_driver/ros_messages.hpp>
 
 
namespace novatel_oem7_driver
{
 
class Oem7RosPublisher
{
  ros::Publisher  ros_pub_; 
 
  std::string frame_id_; 
 
public:
 
  template<typename M>
  void setup(const std::string& name, ros::NodeHandle& nh)
  {
    typedef std::map<std::string, std::string> message_config_map_t;
 
    message_config_map_t message_config_map;
    nh.getParam(name, message_config_map);
 
    message_config_map_t::iterator topic_itr = message_config_map.find("topic");
    if(topic_itr == message_config_map.end())
    {
      ROS_WARN_STREAM("Message '" << name << "' will not be published.");
      return;
    }
 
    int queue_size = 100; // default size
 
    message_config_map_t::iterator q_size_itr  = message_config_map.find("queue_size");
    if(q_size_itr != message_config_map.end())
    {
      std::stringstream ss(q_size_itr->second);
      ss >> queue_size;
    }
 
    message_config_map_t::iterator frame_id_itr  = message_config_map.find("frame_id");
    if(frame_id_itr != message_config_map.end())
    {
      frame_id_ = frame_id_itr->second;
    }
 
    ROS_INFO_STREAM("topic [" << topic_itr->second << "]: frame_id: '" << frame_id_ << "'; q size: " << queue_size);
    ros_pub_ = nh.advertise<M>(topic_itr->second, queue_size);
  }
 
  bool isEnabled()
  {
    return !ros_pub_.getTopic().empty();
  }
 
  template <typename M>
  void publish(boost::shared_ptr<M>& msg)
  {
    if(!isEnabled())
    {
      return;
    }
 
    SetROSHeader(frame_id_, msg);
    ros_pub_.publish(msg);
  }
 
};
 
}
#endif